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<p>send the commands to the lowlevel and checks if the correct position is reached  
 <a href="classsendcmd.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="sendcmd_8h_source.html">sendcmd.h</a>&gt;</code></p>

<p><a href="classsendcmd-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classsendcmd.html#aad4bed0215191088e6b7b131e0c19626">sendcmd</a> (<a class="el" href="classRobotData.html">RobotData</a> *rob, <a class="el" href="classClient.html">Client</a> *client)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classsendcmd.html#a0120ecfb0fdcac3b0e2e47a71a6ee7cf">~sendcmd</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classsendcmd.html#a030552c6ac9ea5822869f4495c64a607">drive</a> (int afstand, float hoek)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classsendcmd.html#ad26cecad624a173c817a3d8dbc8f51c4">stuurcomd</a> (int tijd, int geval)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0568a783f26e8c04a73b13de8575052e"></a><!-- doxytag: member="sendcmd::controleernabereikt" ref="a0568a783f26e8c04a73b13de8575052e" args="(void)" -->
bool&#160;</td><td class="memItemRight" valign="bottom"><b>controleernabereikt</b> (void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classsendcmd.html#adc9fc00236419abcc8ab855c983ba640">controlleerpositie</a> (int tijd)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classsendcmd.html#a60ef58369cbd5f563493e7a3d2fdab00">controlleerdraai</a> (int tijd)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classsendcmd.html#a70f3c0f7fb5109c83f925ce4ccdfb1fe">closegrab</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classsendcmd.html#a49a3960cecd165cad7e23ad6fb8266e3">opengrab</a> ()</td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>send the commands to the lowlevel and checks if the correct position is reached </p>
</div><hr/><h2>Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="aad4bed0215191088e6b7b131e0c19626"></a><!-- doxytag: member="sendcmd::sendcmd" ref="aad4bed0215191088e6b7b131e0c19626" args="(RobotData *rob, Client *client)" -->
<div class="memitem">
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      <table class="memname">
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          <td class="memname"><a class="el" href="classsendcmd.html#aad4bed0215191088e6b7b131e0c19626">sendcmd::sendcmd</a> </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classRobotData.html">RobotData</a> *&#160;</td>
          <td class="paramname"><em>rob</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classClient.html">Client</a> *&#160;</td>
          <td class="paramname"><em>client</em>&#160;</td>
        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<div class="memdoc">
<p>Constructor </p>

</div>
</div>
<a class="anchor" id="a0120ecfb0fdcac3b0e2e47a71a6ee7cf"></a><!-- doxytag: member="sendcmd::~sendcmd" ref="a0120ecfb0fdcac3b0e2e47a71a6ee7cf" args="()" -->
<div class="memitem">
<div class="memproto">
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          <td class="memname"><a class="el" href="classsendcmd.html#a0120ecfb0fdcac3b0e2e47a71a6ee7cf">sendcmd::~sendcmd</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Destructor </p>

</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a70f3c0f7fb5109c83f925ce4ccdfb1fe"></a><!-- doxytag: member="sendcmd::closegrab" ref="a70f3c0f7fb5109c83f925ce4ccdfb1fe" args="()" -->
<div class="memitem">
<div class="memproto">
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          <td class="memname">void <a class="el" href="classsendcmd.html#a70f3c0f7fb5109c83f925ce4ccdfb1fe">sendcmd::closegrab</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This function send to the lowlevel that the grab must be closed </p>

</div>
</div>
<a class="anchor" id="a60ef58369cbd5f563493e7a3d2fdab00"></a><!-- doxytag: member="sendcmd::controlleerdraai" ref="a60ef58369cbd5f563493e7a3d2fdab00" args="(int tijd)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
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          <td class="memname">void <a class="el" href="classsendcmd.html#a60ef58369cbd5f563493e7a3d2fdab00">sendcmd::controlleerdraai</a> </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>tijd</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This function wil controle if the reached angle is reached and stop turning </p>

</div>
</div>
<a class="anchor" id="adc9fc00236419abcc8ab855c983ba640"></a><!-- doxytag: member="sendcmd::controlleerpositie" ref="adc9fc00236419abcc8ab855c983ba640" args="(int tijd)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classsendcmd.html#adc9fc00236419abcc8ab855c983ba640">sendcmd::controlleerpositie</a> </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>tijd</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This function wil controle if the reached position is the same as the wanted position </p>

</div>
</div>
<a class="anchor" id="a030552c6ac9ea5822869f4495c64a607"></a><!-- doxytag: member="sendcmd::drive" ref="a030552c6ac9ea5822869f4495c64a607" args="(int afstand, float hoek)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classsendcmd.html#a030552c6ac9ea5822869f4495c64a607">sendcmd::drive</a> </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>afstand</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>hoek</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Will convert the distance and angle to the specifications of the robot speed. It wil send a command to move a specific direction and after a calculated time it will send a stop command.</p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">int</td><td>afstand the distance that wil be converted. </td></tr>
    <tr><td class="paramname">float</td><td>hoek the angle that wil be converted. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a49a3960cecd165cad7e23ad6fb8266e3"></a><!-- doxytag: member="sendcmd::opengrab" ref="a49a3960cecd165cad7e23ad6fb8266e3" args="()" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classsendcmd.html#a49a3960cecd165cad7e23ad6fb8266e3">sendcmd::opengrab</a> </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This function send to the lowlevel that the grab must be opend </p>

</div>
</div>
<a class="anchor" id="ad26cecad624a173c817a3d8dbc8f51c4"></a><!-- doxytag: member="sendcmd::stuurcomd" ref="ad26cecad624a173c817a3d8dbc8f51c4" args="(int tijd, int geval)" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classsendcmd.html#ad26cecad624a173c817a3d8dbc8f51c4">sendcmd::stuurcomd</a> </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>tijd</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>geval</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Will Send diference command, 0 = rotate left, 1 = rotate right, 2 = move forward and 3 = mover backward. after a precalculated time it will send a stop command.</p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">int</td><td>tijd the time it will be executing the command. </td></tr>
    <tr><td class="paramname">int</td><td>geval the 4 difference command that it can call. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>denayer-canbot-13-14-a/src/strategy/<a class="el" href="sendcmd_8h_source.html">sendcmd.h</a></li>
<li>denayer-canbot-13-14-a/src/strategy/sendcmd.cpp</li>
</ul>
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